Ben Robert Chaplin,Keith Marshall,Nikki Priyam Su-Ling Phoolchund
申请号：
US15374121
公开号：
US20170165016A1
申请日:
2016.12.09
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A robotic surgical instrument comprising an articulation connecting an end effector to a distal end of a shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. An instrument interface connects to a proximal end of the shaft. Pairs of driving elements drive the joints. The driving elements extend from the instrument interface to the joints. Each driving element comprises a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface. In a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.
